kopia lustrzana https://github.com/fsphil/hadie
160 wiersze
3.7 KiB
C
160 wiersze
3.7 KiB
C
/* hadie - High Altitude Balloon flight software */
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/*============================================================*/
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/* Copyright (C)2010 Philip Heron <phil@sanslogic.co.uk> */
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/* */
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/* This program is distributed under the terms of the GNU */
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/* General Public License, version 2. You may use, modify, */
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/* and redistribute it under the terms of this license. A */
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/* copy should be included with this source. */
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#include "config.h"
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#include <stdio.h>
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#include <string.h>
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#include <util/delay.h>
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#include <util/crc16.h>
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#include <avr/interrupt.h>
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#include "rtty.h"
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#include "gps.h"
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#include "c328.h"
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#include "rs8.h"
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/* Message buffer */
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#define MSG_SIZE (100)
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char msg[MSG_SIZE];
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#define PREFIX "$$$$"
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/* Image TX data */
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#define PKT_SIZE (0x100)
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#define PKT_SIZE_HEADER (0x0A)
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#define PKT_SIZE_RSCODES (0x20)
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#define PKT_SIZE_PAYLOAD (PKT_SIZE - PKT_SIZE_HEADER - PKT_SIZE_RSCODES)
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uint8_t pkt[PKT_SIZE];
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uint8_t image_pkts;
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void init_packet(uint8_t *packet, uint8_t imageid, uint8_t pktid, uint8_t pkts, uint16_t width, uint16_t height)
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{
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packet[0] = 0x55; /* Sync */
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packet[1] = 0x66; /* Type */
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packet[2] = imageid; /* Image ID */
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packet[3] = pktid; /* Packet ID */
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packet[4] = pkts; /* Packets */
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packet[5] = width >> 3; /* Width MCU */
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packet[6] = height >> 3; /* Height MCU */
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packet[7] = 0xFF; /* Next MCU offset */
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packet[8] = 0x00; /* MCU ID MSB */
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packet[9] = 0x00; /* MCU ID LSB */
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memset(&packet[PKT_SIZE_HEADER], 0, PKT_SIZE_PAYLOAD);
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}
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char tx_image(void)
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{
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static char setup = 0;
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static uint8_t img_id = 0;
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static uint8_t pkt_id;
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if(!setup)
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{
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uint16_t image_len;
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if(c3_open(SR_320x240) != 0) return(setup);
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setup = -1;
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pkt_id = 0;
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img_id++;
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/* Calculate the number of packets needed for this image */
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image_len = c3_filesize();
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image_pkts = image_len / PKT_SIZE_PAYLOAD;
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image_pkts += (image_len % PKT_SIZE_PAYLOAD > 0 ? 1 : 0);
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}
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/* Initialise the packet */
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init_packet(pkt, img_id, pkt_id++, image_pkts, 320, 240);
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c3_read(&pkt[PKT_SIZE_HEADER], PKT_SIZE_PAYLOAD);
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if(c3_eof())
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{
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c3_close();
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setup = 0;
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}
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encode_rs_8(&pkt[1], &pkt[PKT_SIZE_HEADER + PKT_SIZE_PAYLOAD], 0);
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rtx_string_P(PSTR("UUU")); /* U = 0x55 */
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rtx_data(pkt, PKT_SIZE);
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return(setup);
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}
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uint16_t crccat(char *msg)
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{
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uint16_t x;
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for(x = 0xFFFF; *msg; msg++)
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x = _crc_xmodem_update(x, *msg);
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snprintf(msg, 8, "*%04X\n", x);
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return(x);
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}
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char tx_telemetry(void)
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{
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static unsigned int counter = 0;
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gpsfix_t gps;
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/* Read the GPS data */
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gps_parse(&gps);
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rtx_wait();
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snprintf(msg, MSG_SIZE,
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PREFIX CALLSIGN ",%u,%02i:%02i:%02i,%s%i.%06lu,%s%i.%06lu,%li,%i:%i",
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counter++,
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gps.hour, gps.minute, gps.second,
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(gps.latitude_h == 'S' ? "-" : ""),
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gps.latitude_i, gps.latitude_f,
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(gps.longitude_h == 'W' ? "-" : ""),
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gps.longitude_i, gps.longitude_f,
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gps.altitude, gps.fix, gps.sats);
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/* Append the checksum, skipping the first four $'s */
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crccat(msg + 4);
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/* Begin transmitting */
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rtx_string(msg);
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return(0);
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}
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int main(void)
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{
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char r;
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/* Initalise the various bits */
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rtx_init();
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gps_init();
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c3_init();
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/* Let the radio settle before beginning */
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_delay_ms(2000);
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/* Start interrupts and enter the main loop */
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sei();
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while(1)
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{
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r = 10;
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if(tx_image() == -1)
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{
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/* The camera goes to sleep while transmitting telemetry,
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* sync'ing here seems to prevent it. */
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c3_sync();
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r = 1;
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}
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rtx_string_P(PSTR("\n"));
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for(; r > 0; r--) tx_telemetry();
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}
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return(0);
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}
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